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<div class="header">
  <div class="summary">
<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-attribs">Protected 属性</a> &#124;
<a href="classpcl_1_1registration_1_1_meta_registration-members.html">所有成员列表</a>  </div>
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<div class="title">pcl::registration::MetaRegistration&lt; PointT, Scalar &gt; 模板类 参考</div>  </div>
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<div class="contents">

<p>Meta <a class="el" href="classpcl_1_1_registration.html">Registration</a> class  
 <a href="classpcl_1_1registration_1_1_meta_registration.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="meta__registration_8h_source.html">meta_registration.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:a49b2607f876cee9a89316af9c3c12e96"><td class="memItemLeft" align="right" valign="top"><a id="a49b2607f876cee9a89316af9c3c12e96"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
<tr class="separator:a49b2607f876cee9a89316af9c3c12e96"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4ee16f3056bfd2daead90525d2f3878a"><td class="memItemLeft" align="right" valign="top"><a id="a4ee16f3056bfd2daead90525d2f3878a"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
<tr class="separator:a4ee16f3056bfd2daead90525d2f3878a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa91d989a1a5ec81fbd5757f121dd2058"><td class="memItemLeft" align="right" valign="top"><a id="aa91d989a1a5ec81fbd5757f121dd2058"></a>
typedef <a class="el" href="classpcl_1_1_registration.html">pcl::Registration</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, Scalar &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>RegistrationPtr</b></td></tr>
<tr class="separator:aa91d989a1a5ec81fbd5757f121dd2058"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac5df6e64a006b6257d22eadf570d3e03"><td class="memItemLeft" align="right" valign="top"><a id="ac5df6e64a006b6257d22eadf570d3e03"></a>
typedef <a class="el" href="classpcl_1_1_registration.html">pcl::Registration</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, Scalar &gt;::Matrix4&#160;</td><td class="memItemRight" valign="bottom"><b>Matrix4</b></td></tr>
<tr class="separator:ac5df6e64a006b6257d22eadf570d3e03"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a470090182ad7dd7a8abc2f2db0f3b614"><td class="memItemLeft" align="right" valign="top"><a id="a470090182ad7dd7a8abc2f2db0f3b614"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_meta_registration.html#a470090182ad7dd7a8abc2f2db0f3b614">~MetaRegistration</a> ()</td></tr>
<tr class="memdesc:a470090182ad7dd7a8abc2f2db0f3b614"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
<tr class="separator:a470090182ad7dd7a8abc2f2db0f3b614"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a867f0e8d0d32aa7887b0dc54270f7f21"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_meta_registration.html#a867f0e8d0d32aa7887b0dc54270f7f21">registerCloud</a> (const PointCloudConstPtr &amp;cloud, const Matrix4 &amp;delta_estimate=Matrix4::Identity())</td></tr>
<tr class="memdesc:a867f0e8d0d32aa7887b0dc54270f7f21"><td class="mdescLeft">&#160;</td><td class="mdescRight">Register new point cloud  <a href="classpcl_1_1registration_1_1_meta_registration.html#a867f0e8d0d32aa7887b0dc54270f7f21">更多...</a><br /></td></tr>
<tr class="separator:a867f0e8d0d32aa7887b0dc54270f7f21"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae3740341d18596744fb02a95ae357f9a"><td class="memItemLeft" align="right" valign="top"><a id="ae3740341d18596744fb02a95ae357f9a"></a>
Matrix4&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_meta_registration.html#ae3740341d18596744fb02a95ae357f9a">getAbsoluteTransform</a> () const</td></tr>
<tr class="memdesc:ae3740341d18596744fb02a95ae357f9a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get estimated transform of the last registered cloud <br /></td></tr>
<tr class="separator:ae3740341d18596744fb02a95ae357f9a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4ade3a8475c9f3bdd1ca9ec6b10d7c0f"><td class="memItemLeft" align="right" valign="top"><a id="a4ade3a8475c9f3bdd1ca9ec6b10d7c0f"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_meta_registration.html#a4ade3a8475c9f3bdd1ca9ec6b10d7c0f">reset</a> ()</td></tr>
<tr class="memdesc:a4ade3a8475c9f3bdd1ca9ec6b10d7c0f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reset MetaICP without resetting registration_ <br /></td></tr>
<tr class="separator:a4ade3a8475c9f3bdd1ca9ec6b10d7c0f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad8d6d95c66a8f951037c9f2281a87d18"><td class="memItemLeft" align="right" valign="top"><a id="ad8d6d95c66a8f951037c9f2281a87d18"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_meta_registration.html#ad8d6d95c66a8f951037c9f2281a87d18">setRegistration</a> (RegistrationPtr)</td></tr>
<tr class="memdesc:ad8d6d95c66a8f951037c9f2281a87d18"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set registration instance used to align clouds <br /></td></tr>
<tr class="separator:ad8d6d95c66a8f951037c9f2281a87d18"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3234d43ef4450d8f77cae01504cc60a5"><td class="memItemLeft" align="right" valign="top"><a id="a3234d43ef4450d8f77cae01504cc60a5"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_meta_registration.html#a3234d43ef4450d8f77cae01504cc60a5">getMetaCloud</a> () const</td></tr>
<tr class="memdesc:a3234d43ef4450d8f77cae01504cc60a5"><td class="mdescLeft">&#160;</td><td class="mdescRight">get accumulated meta point cloud <br /></td></tr>
<tr class="separator:a3234d43ef4450d8f77cae01504cc60a5"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:a297456962cbf69a71ef853b4072a85ef"><td class="memItemLeft" align="right" valign="top"><a id="a297456962cbf69a71ef853b4072a85ef"></a>
PointCloudPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_meta_registration.html#a297456962cbf69a71ef853b4072a85ef">full_cloud_</a></td></tr>
<tr class="memdesc:a297456962cbf69a71ef853b4072a85ef"><td class="mdescLeft">&#160;</td><td class="mdescRight">registered accumulated point cloud <br /></td></tr>
<tr class="separator:a297456962cbf69a71ef853b4072a85ef"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa08e58b1f4e11268868628f712b6e89c"><td class="memItemLeft" align="right" valign="top"><a id="aa08e58b1f4e11268868628f712b6e89c"></a>
RegistrationPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_meta_registration.html#aa08e58b1f4e11268868628f712b6e89c">registration_</a></td></tr>
<tr class="memdesc:aa08e58b1f4e11268868628f712b6e89c"><td class="mdescLeft">&#160;</td><td class="mdescRight">registration instance to align clouds <br /></td></tr>
<tr class="separator:aa08e58b1f4e11268868628f712b6e89c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a439ed0f07ba2ebf450e19e047c5fe162"><td class="memItemLeft" align="right" valign="top"><a id="a439ed0f07ba2ebf450e19e047c5fe162"></a>
Matrix4&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_meta_registration.html#a439ed0f07ba2ebf450e19e047c5fe162">abs_transform_</a></td></tr>
<tr class="memdesc:a439ed0f07ba2ebf450e19e047c5fe162"><td class="mdescLeft">&#160;</td><td class="mdescRight">estimated transform <br /></td></tr>
<tr class="separator:a439ed0f07ba2ebf450e19e047c5fe162"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT, typename Scalar = float&gt;<br />
class pcl::registration::MetaRegistration&lt; PointT, Scalar &gt;</h3>

<p>Meta <a class="el" href="classpcl_1_1_registration.html">Registration</a> class </p>
<dl class="section note"><dt>注解</dt><dd>This method accumulates all registered points and becomes more costly with each registered point cloud.</dd></dl>
<p>This class provides a way to register a stream of clouds where each cloud will be aligned to the conglomerate of all previous clouds.</p>
<div class="fragment"><div class="line">IterativeClosestPoint&lt;PointXYZ,PointXYZ&gt;::Ptr icp (<span class="keyword">new</span> IterativeClosestPoint&lt;PointXYZ,PointXYZ&gt;);</div>
<div class="line">icp-&gt;setMaxCorrespondenceDistance (0.05);</div>
<div class="line">icp-&gt;setMaximumIterations (50);</div>
<div class="line"> </div>
<div class="line">MetaRegistration&lt;PointXYZ&gt; mreg;</div>
<div class="line">mreg.setRegistration (icp);</div>
<div class="line"> </div>
<div class="line"><span class="keywordflow">while</span> (<span class="keyword">true</span>)</div>
<div class="line">{</div>
<div class="line">  PointCloud&lt;PointXYZ&gt;::Ptr cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointXYZ&gt;</a>);</div>
<div class="line">  read_cloud (*cloud);</div>
<div class="line">  mreg.registerCloud (cloud);</div>
<div class="line"> </div>
<div class="line">  PointCloud&lt;PointXYZ&gt;::Ptr tmp (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointXYZ&gt;</a>);</div>
<div class="line">  <a class="code" href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">transformPointCloud</a> (*cloud, *tmp, mreg.getAbsoluteTransform ());</div>
<div class="line">  write_cloud (*tmp);</div>
<div class="line">}</div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="agroup__common_html_ga52d532f7f2b4d7bba78d13701d3a33d8"><div class="ttname"><a href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">pcl::transformPointCloud</a></div><div class="ttdeci">void transformPointCloud(const pcl::PointCloud&lt; PointT &gt; &amp;cloud_in, pcl::PointCloud&lt; PointT &gt; &amp;cloud_out, const Eigen::Transform&lt; Scalar, 3, Eigen::Affine &gt; &amp;transform, bool copy_all_fields=true)</div><div class="ttdoc">Apply an affine transform defined by an Eigen Transform</div><div class="ttdef"><b>Definition:</b> transforms.hpp:42</div></div>
</div><!-- fragment --><dl class="section author"><dt>作者</dt><dd>Michael 'v4hn' Goerner </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a867f0e8d0d32aa7887b0dc54270f7f21"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a867f0e8d0d32aa7887b0dc54270f7f21">&#9670;&nbsp;</a></span>registerCloud()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename Scalar &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="classpcl_1_1registration_1_1_meta_registration.html">pcl::registration::MetaRegistration</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, Scalar &gt;::registerCloud </td>
          <td>(</td>
          <td class="paramtype">const PointCloudConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>delta_estimate</em> = <code>Matrix4::Identity&#160;()</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Register new point cloud </p>
<dl class="section note"><dt>注解</dt><dd>You have to set a valid registration object with setICP before using this </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>point cloud to register </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">delta_estimate</td><td>estimated transform between last registered cloud and this one </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>true if ICP converged </dd></dl>
<div class="fragment"><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  assert (<a class="code" href="classpcl_1_1registration_1_1_meta_registration.html#aa08e58b1f4e11268868628f712b6e89c">registration_</a>);</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  PointCloudPtr new_cloud_transformed (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> ());</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1registration_1_1_meta_registration.html#a297456962cbf69a71ef853b4072a85ef">full_cloud_</a>)</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  {</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <a class="code" href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">pcl::transformPointCloud</a>(*new_cloud, *new_cloud_transformed, delta_estimate);</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <a class="code" href="classpcl_1_1registration_1_1_meta_registration.html#a297456962cbf69a71ef853b4072a85ef">full_cloud_</a> = new_cloud_transformed;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <a class="code" href="classpcl_1_1registration_1_1_meta_registration.html#a439ed0f07ba2ebf450e19e047c5fe162">abs_transform_</a> = delta_estimate;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  }</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_meta_registration.html#aa08e58b1f4e11268868628f712b6e89c">registration_</a>-&gt;setInputSource (new_cloud);</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_meta_registration.html#aa08e58b1f4e11268868628f712b6e89c">registration_</a>-&gt;setInputTarget (<a class="code" href="classpcl_1_1registration_1_1_meta_registration.html#a297456962cbf69a71ef853b4072a85ef">full_cloud_</a>);</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_meta_registration.html#aa08e58b1f4e11268868628f712b6e89c">registration_</a>-&gt;align (*new_cloud_transformed, <a class="code" href="classpcl_1_1registration_1_1_meta_registration.html#a439ed0f07ba2ebf450e19e047c5fe162">abs_transform_</a> * delta_estimate);</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordtype">bool</span> converged = <a class="code" href="classpcl_1_1registration_1_1_meta_registration.html#aa08e58b1f4e11268868628f712b6e89c">registration_</a>-&gt;hasConverged ();</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordflow">if</span> (converged)</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  {</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <a class="code" href="classpcl_1_1registration_1_1_meta_registration.html#a439ed0f07ba2ebf450e19e047c5fe162">abs_transform_</a> = <a class="code" href="classpcl_1_1registration_1_1_meta_registration.html#aa08e58b1f4e11268868628f712b6e89c">registration_</a>-&gt;getFinalTransformation ();</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    *<a class="code" href="classpcl_1_1registration_1_1_meta_registration.html#a297456962cbf69a71ef853b4072a85ef">full_cloud_</a> += *new_cloud_transformed;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  }</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keywordflow">return</span> (converged);</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_meta_registration_html_a297456962cbf69a71ef853b4072a85ef"><div class="ttname"><a href="classpcl_1_1registration_1_1_meta_registration.html#a297456962cbf69a71ef853b4072a85ef">pcl::registration::MetaRegistration::full_cloud_</a></div><div class="ttdeci">PointCloudPtr full_cloud_</div><div class="ttdoc">registered accumulated point cloud</div><div class="ttdef"><b>Definition:</b> meta_registration.h:117</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_meta_registration_html_a439ed0f07ba2ebf450e19e047c5fe162"><div class="ttname"><a href="classpcl_1_1registration_1_1_meta_registration.html#a439ed0f07ba2ebf450e19e047c5fe162">pcl::registration::MetaRegistration::abs_transform_</a></div><div class="ttdeci">Matrix4 abs_transform_</div><div class="ttdoc">estimated transform</div><div class="ttdef"><b>Definition:</b> meta_registration.h:123</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_meta_registration_html_aa08e58b1f4e11268868628f712b6e89c"><div class="ttname"><a href="classpcl_1_1registration_1_1_meta_registration.html#aa08e58b1f4e11268868628f712b6e89c">pcl::registration::MetaRegistration::registration_</a></div><div class="ttdeci">RegistrationPtr registration_</div><div class="ttdoc">registration instance to align clouds</div><div class="ttdef"><b>Definition:</b> meta_registration.h:120</div></div>
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